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imu_mpu6000_hmc5883.h File Reference

Driver for IMU with MPU6000 via SPI and HMC5883 via I2c. More...

#include "std.h"
#include "generated/airframe.h"
#include "subsystems/imu.h"
#include "subsystems/imu/imu_mpu60x0_defaults.h"
#include "peripherals/mpu60x0_spi.h"
#include "peripherals/hmc58xx.h"
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Go to the source code of this file.

Data Structures

struct  ImuMpu6000Hmc5883
 

Macros

#define IMU_GYRO_P_SIGN   1
 
#define IMU_GYRO_Q_SIGN   1
 
#define IMU_GYRO_R_SIGN   1
 
#define IMU_ACCEL_X_SIGN   1
 
#define IMU_ACCEL_Y_SIGN   1
 
#define IMU_ACCEL_Z_SIGN   1
 
#define IMU_MAG_X_SIGN   1
 
#define IMU_MAG_Y_SIGN   1
 
#define IMU_MAG_Z_SIGN   1
 

Functions

void imu_mpu_hmc_event (void)
 
static void ImuEvent (void(*_gyro_handler)(void), void(*_accel_handler)(void), void(*_mag_handler)(void))
 

Variables

struct ImuMpu6000Hmc5883 imu_mpu_hmc
 

Detailed Description

Driver for IMU with MPU6000 via SPI and HMC5883 via I2c.

E.g. for Aspirin 2.1

Definition in file imu_mpu6000_hmc5883.h.

Macro Definition Documentation

#define IMU_ACCEL_X_SIGN   1

Definition at line 45 of file imu_mpu6000_hmc5883.h.

#define IMU_ACCEL_Y_SIGN   1

Definition at line 46 of file imu_mpu6000_hmc5883.h.

#define IMU_ACCEL_Z_SIGN   1

Definition at line 47 of file imu_mpu6000_hmc5883.h.

#define IMU_GYRO_P_SIGN   1

Definition at line 40 of file imu_mpu6000_hmc5883.h.

#define IMU_GYRO_Q_SIGN   1

Definition at line 41 of file imu_mpu6000_hmc5883.h.

#define IMU_GYRO_R_SIGN   1

Definition at line 42 of file imu_mpu6000_hmc5883.h.

#define IMU_MAG_X_SIGN   1

Definition at line 50 of file imu_mpu6000_hmc5883.h.

#define IMU_MAG_Y_SIGN   1

Definition at line 51 of file imu_mpu6000_hmc5883.h.

#define IMU_MAG_Z_SIGN   1

Definition at line 52 of file imu_mpu6000_hmc5883.h.

Function Documentation

static void ImuEvent ( void(*)(void)  _gyro_handler,
void(*)(void)  _accel_handler,
void(*)(void)  _mag_handler 
)
inlinestatic

Definition at line 68 of file imu_mpu6000_hmc5883.h.

References ImuMpu6000Hmc5883::accel_valid, FALSE, ImuMpu6000Hmc5883::gyro_valid, imu_mpu_hmc, imu_mpu_hmc_event(), and ImuMpu6000Hmc5883::mag_valid.

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Variable Documentation

struct ImuMpu6000Hmc5883 imu_mpu_hmc

Definition at line 73 of file imu_mpu6000_hmc5883.c.

Referenced by imu_mpu_hmc_event(), imu_periodic(), and ImuEvent().